CN108638786A - A kind of control method of air door actuator of automobile air-conditioner - Google Patents
A kind of control method of air door actuator of automobile air-conditioner Download PDFInfo
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- CN108638786A CN108638786A CN201810379083.8A CN201810379083A CN108638786A CN 108638786 A CN108638786 A CN 108638786A CN 201810379083 A CN201810379083 A CN 201810379083A CN 108638786 A CN108638786 A CN 108638786A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
- B60H1/00—Heating, cooling or ventilating [HVAC] devices
- B60H1/00642—Control systems or circuits; Control members or indication devices for heating, cooling or ventilating devices
- B60H1/00814—Control systems or circuits characterised by their output, for controlling particular components of the heating, cooling or ventilating installation
- B60H1/00821—Control systems or circuits characterised by their output, for controlling particular components of the heating, cooling or ventilating installation the components being ventilating, air admitting or air distributing devices
- B60H1/00835—Damper doors, e.g. position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
- B60H1/00—Heating, cooling or ventilating [HVAC] devices
- B60H1/00642—Control systems or circuits; Control members or indication devices for heating, cooling or ventilating devices
- B60H1/00978—Control systems or circuits characterised by failure of detection or safety means; Diagnostic methods
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Air-Conditioning For Vehicles (AREA)
Abstract
The present invention provides a kind of control methods of air door actuator of automobile air-conditioner, belong to automobile technical field.It solve the problems, such as existing technology there are air door executer angle of operation adjust it is not accurate enough.The control method of this air door actuator of automobile air-conditioner includes：Set actuator target location Ptg, acquisition actuator current actual positions Pfb, obtain actuator target location PtgWith actuator current actual positions PfbDifference △ S, by difference △ S and preset value SdtIt is compared, is more than or equal to preset value S in △ SdtWhen, into the full speed area operation stage, control air door executer is run with absolutely PWM；It is less than preset value S in △ SdtWhen, into the decelerating area operation phase, the PWM after control air door executer is successively decreased successively with preset percentage is run.This control method can realize air door executer both set target locations of quick and accurate true arrival.
Description
Technical field
The invention belongs to automobile technical fields, are related to a kind of control method of air door actuator of automobile air-conditioner.
Background technology
The control quality of automobile air-conditioning throttle electric motor actuator, directly affects such as inner-outer circulation intake, pattern outlet air position
Offset, the temperature deviation of Mixed Zone are set, and then influences the comfort level of passenger.Currently on the market, damper motor control aspect master
There are following deficiencies：1. air door executer controls unreachable position, then there is leakage when air door is in critical point position
The phenomenon that wind, as when mode air door executer is moved to from blow head blows placement of foot because unreachable position is likely present from blow head
Have and leaks out or mode air door executer is from blowing when foot is moved to blow head position because unreachable position is likely present from blowing foot
Have and leaks out.2. air door executer control executes overshoot, such as cycle throttle actuator from loopy moving in complete to full outer circulation or
Full outer circulation switches to cycle in complete because overshoot is easy so that shaft deformation, accelerates aging speed, when serious then can shaft it is disconnected
It splits.3. air door executer control swings back and forth near target location, such as swinging back and forth so that Mixed Zone for blender door
Temperature has abnormal fluctuation, and causing the wind produced by boasting, also temperature is unstable.4., such as cannot be bright without effective fault distinguishing mechanism
True determines whether actuator exceeds stroke, can not clearly discriminate whether stall failure, there is serious erroneous judgements.5.
Adaptability is poor, for being required to calibration repeatedly and calibration in different air-conditioning systems, to waste a large amount of time,
And effect also may not be all right.
In view of the above problems, existing Chinese patent literature discloses a kind of portable vehicle air conditioner damper execution
Device controller【Application number：CN201710221203.7】, it includes:Microprocessor, the power supply being connect with the microprocessor
Module, the operation panel module being connect with the microprocessor, the air door executer motor being connect with microprocessor driving
Module；Although the invention includes feedback function, the running position of air door can be precisely controlled by showing feedback voltage；To wind
Door driving may be implemented " finely tune " and " coarse adjustment " both of which, can comprehensively meet any position that air door needs are gone to；But
The invention needs artificially to be adjusted the position that could be realized and air door is adjusted to needs manually, and control not high there are accuracy
Not enough convenient problem, and increase equipment is needed to realize, increase cost output.
Invention content
The purpose of the present invention is in view of the above-mentioned problems existing in the prior art, it is proposed that a kind of air door actuator of automobile air-conditioner
Control method, the control method of the air door actuator of automobile air-conditioner the technical problem to be solved is that：How to realize that air door is held
Row device both set target location of quick and accurate true arrival.
Object of the invention can be realized by the following technical scheme：A kind of controlling party of air door actuator of automobile air-conditioner
Method, including：Set actuator target location Ptg, acquisition actuator current actual positions Pfb；Obtain actuator target location PtgWith
Actuator current actual positions PfbDifference △ S, by difference △ S and preset preset value SdtIt is compared；It is big in △ S
In equal to preset value SdtWhen, into the full speed area operation stage, control air door executer is run with absolutely PWM；In △ S
Less than preset value SdtWhen, into the decelerating area operation phase, after control air door executer is successively decreased successively with preset percentage
PWM operations, until air door executer runs to the actuator target location P of settingtg。
The operation principle of the control method of this air door actuator of automobile air-conditioner is：First to actuator target location PtgIt carries out
Setting, and to actuator current actual positions PfbIt is acquired, it is currently practical by comparing actuator target location and actuator
Position is also off to judge to start execution action and executes action, in actuator target location and actuator current actual positions
Start to execute action when having difference, obtains PtgWith PfbBetween difference △ S, △ S be more than or equal to preset setting value
When, it is less than into the full speed area operation stage in △ S preset with absolutely PWM control air door executer operatings
When setting value, into the decelerating area operation phase, the PWM control air door executer fortune after being successively decreased successively with preset percentage
Turn, until air door executer runs to the actuator target location P of settingtg.It is run by full speed area operation and decelerating area
The two stages, it can be achieved that the air door executer actuator target location that both quick and accurate true arrival is set, avoid because of air door
The unreachable position of actuator or overshoot, the problem of influencing using effect and air door executer itself service life.
In the control method of above-mentioned air door actuator of automobile air-conditioner, the preset value SdtSet formula as：Sdt=
Smin×K×C；
Wherein, SminFor minimum controllable precision stroke；K is damping stroke；C is the scale parameter that can be demarcated, this parameter and wind
The torque of door actuator is related.
In the control method of above-mentioned air door actuator of automobile air-conditioner, the preset value SdtSetting further include damping row
The calibration process of journey K, the calibration process include running preset time value with absolutely PWM control air door executers,
When reaching preset time value, the actuator position P at the moment is recordedfb1And stop PWM outputs, remember when air door executer stops
Record actuator position Pfb2, calculate the stroke S of air door executerrun,
Srun=Abs (Pfb1-Pfb2)；
The calibration equation of damping stroke K is：K=Srun/Smin.Calibration to damping stroke K, can be improved default settings
Accuracy, to improve the accuracy and reliability that air door executer reaches target location.
In the control method of above-mentioned air door actuator of automobile air-conditioner, when entering the decelerating area operation phase, setting
The critical value PWM that air door executer can be made to operate and have stroke to changemin, it is in the formula of the PWM acquisitions of decelerating area：
The PWM=△ ÷ of S × 100 (Smin×K×C)；
It is less than PWM in PWMminWhen, it enables：PWM is equal to PWMmin, with PWMminAir door executer operating is controlled, until air door is held
Row device runs to the actuator target location P of settingtg.Set critical value PWMminIt can ensure that air door executer accurately reaches
The actuator target location of setting, the problem of avoiding the occurrence of air door executer unreachable position.
In the control method of above-mentioned air door actuator of automobile air-conditioner, the control method further includes to critical value
PWMminSingle step calibration process, the single step calibration process includes record actuator current location Pfb_old, control air door execution
Device gradually increases PWM value, and constantly acquisition actuator current location with per second 1% rate since 0%, is recorded as
Pfb_new, in Abs (Pfb_new-Pfb_old) it is more than or equal to SminWhen, it is PWM to charge to the valueminAnd it is stored.To PWMminCarry out school
Standard can improve air door executer reliability of operation and accuracy, the problem of avoiding the occurrence of air door executer unreachable position.
In the control method of above-mentioned air door actuator of automobile air-conditioner, the control method further includes executing by comparing
Device target location PtgWith actuator current actual positions PfbThe operating status of air door executer is differentiated, in PtgMore than PfbWhen, into
Enter positive run mode；In PtgLess than PfbWhen, into inverted running state；Reach actuator target location PtgAfterwards, into stopping
State.Pass through the judgement of the step, it may be determined that the rotation direction of air door executer.
In the control method of above-mentioned air door actuator of automobile air-conditioner, after entering positive run mode, real-time judge is held
Row device target location PtgWhether change, as actuator target location PtgWhen unchanged, continue current operating conditions, until arriving
Up to actuator target location PtgAfter stop state；As actuator target location PtgIt changes and positive when increasing, compares actuator mesh
Cursor position PtgWith actuator current actual positions PfbTo differentiate the operating status of air door executer；As actuator target location Ptg
When changing and inversely increasing, it is adjusted to after stopping state, compares actuator target location PtgWith actuator current actual positions PfbCome
Differentiate the operating status of air door executer.In actuator target location PtgWhen changing and inversely increasing, it is adjusted to after stopping state again
Operating status judgement is carried out, that is, carries out operating status judgement after being delayed, such operation can make air door executer more stable more
Accurately reach set target location.
In the control method of above-mentioned air door actuator of automobile air-conditioner, after entering inverted running state, real-time judge is held
Row device target location PtgWhether change, as actuator target location PtgWhen unchanged, continue current operating conditions, until arriving
Up to actuator target location PtgAfter stop state；As actuator target location PtgWhen changing and inversely increasing, compare actuator mesh
Cursor position PtgWith actuator current actual positions PfbTo differentiate the operating status of air door executer；As actuator target location Ptg
It changes and positive when increasing, is adjusted to after stopping state, compares actuator target location PtgWith actuator current actual positions PfbCome
Differentiate the operating status of air door executer.In actuator target location PtgIt changes and positive when increasing, is adjusted to stop after state again
Operating status judgement is carried out, that is, carries out operating status judgement after being delayed, such operation can make air door executer more stable more
Accurately reach set target location.
In the control method of above-mentioned air door actuator of automobile air-conditioner, the control method further include power on self calibration and
The lower self-alignment process of electricity, it is described to power on self calibration or the lower self-alignment process of electricity includes：The mesh of default is obtained first
Mark stroke Sset, control air door executer rotates forward until stall, record position Pstr, then control air door executer reversion action directly
To stall, record position Pend, calculate total kilometres Stst=Abs (Pend-Pstr)；By calculated total kilometres StstWith system
The target stroke S of settingsetIt is compared, judges whether self calibration succeeds according to comparison result, in success, determine StstIt is new
Stroke and stored；In failure, the last stroke value recorded is taken.It carries out powering on self calibration and lower electric self calibration, it can
Each air door is avoided because after longtime running, the substances such as the cushion in air port may be because loosening, to cause air leakage phenomena after extruding
The problem of, ensure that air door executer runs to the target location of setting.
In the control method of above-mentioned air door actuator of automobile air-conditioner, by calculated total kilometres StstWith default
Target stroke SsetIt carries out difference percentage to be calculated, formula is：Cdif=Abs (Sset-Stst)×100÷Sset；
In CdifWhen less than or equal to 5, then it is judged as primary successfully self study, determines new stroke and stored；
In CdifWhen more than 5, then it is judged as primary unsuccessfully self study, takes the last stroke value recorded.
In the control method of above-mentioned air door actuator of automobile air-conditioner, the control method further includes fault distinguishing mistake
Journey, the fault distinguishing process includes working as air door executer during full speed area operation, in Abs (Pfb_new-Pfb_old) be less than
Equal to SminWhen, it is judged as air door executer stall failure.
In the control method of above-mentioned air door actuator of automobile air-conditioner, the fault distinguishing process further includes passing through feedback
Voltage acquisition module is to actuator current actual positions PfbFeedback voltage VfbIt is acquired, in feedback voltage VfbIt is more than or equal to
Preset minimum amount of voltage that or more than or equal to preset maximum voltage value when, be judged as electronic circuit exist short circuit
Or short trouble.
In the control method of above-mentioned air door actuator of automobile air-conditioner, the fault distinguishing process further includes by actuator
Current actual positions PfbWith preset range PmaxWith preset minimum stroke PminBe compared, more than etc.
In range PmaxOr it is less than or equal to minimum stroke PminWhen, it is judged as that air door executer exceeds stroke failure.
By the fault distinguishing process in this control method, clearly Judging fault it can be above stroke failure and still block up
Turn failure, or be electronic circuit fault, improves the accuracy of breakdown judge.
Compared with prior art, the control method of this air door actuator of automobile air-conditioner has the following advantages：
1, the present invention runs the two stages, it can be achieved that air door executer was both fast by full speed area operation and decelerating area
The actuator target location for accurately reaching setting again realizes efficiently control, it is unreachable to be effectively prevented from air door executer
Position, the problem of overshooting and shake back repeatedly, to can also avoid the problem for causing leaving air temp unstable because of the above problem,
Effectively raise the service life of air conditioning box body and actuator itself.
2, the present invention can realize and settle at one go, reduce the development cycle of product, and adaptability by self calibration
It is good, as long as carbon film actuator is all suitable for.
Specific implementation mode
The following is specific embodiments of the present invention, and technical scheme of the present invention will be further described, but the present invention is simultaneously
It is not limited to these embodiments.
The control method of this air door actuator of automobile air-conditioner includes：Set actuator target location Ptg, acquire actuator and work as
Preceding physical location Pfb；Obtain actuator target location PtgWith actuator current actual positions PfbDifference △ S, by difference △ S with
Preset preset value SdtIt is compared, is more than or equal to preset value S in △ SdtWhen, into full speed area operation stage, control
Air door executer is run with absolutely PWM；It is less than preset value S in △ SdtWhen, into the decelerating area operation phase, control wind
PWM after door actuator is successively decreased successively with preset percentage is run, until air door executer runs to the actuator of setting
Target location Ptg.Wherein, preset value SdtIt can be set according to actual conditions, as long as air door executer can enter deceleration area
The domain operation phase carries out angle adjustment and all may be used.Preset percentage is successively decreased successively, such as：It can be set as with 10% or 20%
Or the mode that other values are successively decreased, such as on the basis of 100% PWM, it is next then with percent 90%, 80% PWM
So that air door executer is worked, by way of successively decreasing successively, air door executer can be made accurately to reach the actuator target of setting
Position avoids the problem that overshoot or unreachable position, enhances the stability of product, effectively avoid outlet air is sometimes hot and sometimes cold from showing
As.
Preferably, preset value set formula as：Sdt=Smin×K×C；
Wherein, SminFor minimum controllable precision stroke；K is damping stroke；C is the scale parameter that can be demarcated, this parameter and wind
The torque of door actuator is related.
Preset value SdtSetting further include damping stroke K calibration process, calibration process include with absolutely PWM control
Air door executer operation preset time value processed records the actuator position P at the moment when reaching preset time valuefb1And stop
PWM is exported, and actuator position P is recorded when air door executer stopsfb2, calculate the stroke S of air door executerrun, Srun=Abs
(Pfb1-Pfb2)；The calibration equation of damping stroke K is：K=Srun/Smin。
The accuracy of default settings can be improved in calibration to damping stroke K, and target is reached to improve air door executer
The accuracy and reliability of position.
Preferably, when entering the decelerating area operation phase, setting can be such that air door executer operates and have stroke
The critical value PWM of variationmin, it is in the formula of the PWM acquisitions of decelerating area：
The PWM=△ ÷ of S × 100 (Smin×K×C)；
It is less than PWM in PWMminWhen, it enables：PWM is equal to PWMmin, with PWMminAir door executer operating is controlled, until air door is held
Row device runs to the actuator target location P of settingtg.Set critical value PWMminIt can ensure that air door executer accurately reaches
The actuator target location of setting, the problem of avoiding the occurrence of air door executer unreachable position.
Preferably, this control method further includes to critical value PWMminSingle step calibration process, single step calibration process
Including recording actuator current location Pfb_old, control air door executer and PWM gradually increased since 0% with per second 1% rate
Value, and constantly acquisition actuator current location, are recorded as Pfb_new, in Abs (Pfb_new-Pfb_old) it is more than or equal to SminWhen,
It is PWM to charge to the valueminAnd it is stored.To PWMminIt is calibrated, air door executer reliability of operation and standard can be improved
True property, the problem of avoiding the occurrence of air door executer unreachable position.
Preferably, this control method further includes by comparing actuator target location PtgIt is currently practical with actuator
Position PfbThe operating status of air door executer is differentiated, in PtgMore than PfbWhen, into positive run mode；In PtgLess than PfbWhen,
Into inverted running state；Reach actuator target location PtgAfterwards, into stopping state.Pass through the judgement of the step, it may be determined that air door
The rotation direction of actuator.
Preferably, after entering positive run mode, real-time judge actuator target location PtgWhether change, when
Actuator target location PtgWhen unchanged, continue current operating conditions, until reaching actuator target location PtgAfter stop state；
As actuator target location PtgIt changes and positive when increasing, compares actuator target location PtgWith the currently practical position of actuator
Set PfbTo differentiate the operating status of air door executer；As actuator target location PtgWhen changing and inversely increasing, it is adjusted to stop
After state, compare actuator target location PtgWith actuator current actual positions PfbTo differentiate the operating status of air door executer.
Actuator target location PtgWhen changing and inversely increasing, it is adjusted to carry out operating status judgement again after stopping state, that is, is delayed laggard
Row operating status judges that such operation can make air door executer is more stable more accurately to reach set target location.
Preferably, after entering inverted running state, real-time judge actuator target location PtgWhether change, when
Actuator target location PtgWhen unchanged, continue current operating conditions, until reaching actuator target location PtgAfter stop state；
As actuator target location PtgWhen changing and inversely increasing, compare actuator target location PtgWith the currently practical position of actuator
Set PfbTo differentiate the operating status of air door executer；As actuator target location PtgIt changes and positive when increasing, is adjusted to stop
After state, compare actuator target location PtgWith actuator current actual positions PfbTo differentiate the operating status of air door executer.
Actuator target location PtgIt changes and positive when increasing, is adjusted to carry out operating status judgement again after stopping state, that is, is delayed laggard
Row operating status judges that such operation can make air door executer is more stable more accurately to reach set target location.
Preferably, this control method further includes powering on self calibration and the lower self-alignment process of electricity, powers on self calibration
Or the lower self-alignment process of electricity includes：The target stroke S of default is obtained firstset, control air door executer rotate forward until
Stall, record position Pstr, then air door executer reversion action is controlled until stall, record position Pend, calculate head office
Journey Stst=Abs (Pend-Pstr)；By calculated total kilometres StstWith the target stroke S of defaultsetBe compared, according to than
Relatively result judges whether self calibration succeeds, and in success, determines StstFor new stroke and stored；In failure, one is taken
The stroke value of secondary record.Power on self calibration and lower electric self calibration, can avoid each air door because after longtime running, air port
The substances such as cushion may ensure that air door executer runs to setting because being loosened after extruding, the problem of to cause air leakage phenomena
Target location.
Preferably, by calculated total kilometres StstWith the target stroke S of defaultsetCarry out difference percentage
It is calculated, formula is：Cdif=Abs (Sset-Stst)×100÷Sset；
In CdifWhen less than or equal to 5, then it is judged as primary successfully self study, determines new stroke and stored；
In CdifWhen more than 5, then it is judged as primary unsuccessfully self study, takes the last stroke value recorded.
Preferably, this control method further includes fault distinguishing process, and fault distinguishing process includes when air door executes
Device is during full speed area operation, in Abs (Pfb_new-Pfb_old) it is less than or equal to SminWhen, it is judged as the event of air door executer stall
Barrier.Abs indicates to obtain the absolute value of the two difference in the text.
Preferably, fault distinguishing process further includes by feedback voltage acquisition module to the currently practical position of actuator
Set PfbFeedback voltage VfbIt is acquired, in feedback voltage VfbMore than or equal to preset minimum amount of voltage that or more than etc.
When preset maximum voltage value, it is judged as that electronic circuit has short circuit or short trouble.
Preferably, fault distinguishing process further includes by actuator current actual positions PfbWith preset maximum
Stroke PmaxWith preset minimum stroke PminIt is compared, more than or equal to range PmaxOr it is less than or equal to minimum row
Journey PminWhen, it is judged as that air door executer exceeds stroke failure.
By the fault distinguishing process in this control method, clearly Judging fault it can be above stroke failure and still block up
Turn failure, or be electronic circuit fault, improves the accuracy of breakdown judge.
The operation principle of the control method of this air door actuator of automobile air-conditioner is：First to actuator target location PtgIt carries out
Setting, and to actuator current actual positions PfbIt is acquired, air door executer executes action from execution action is started to stopping
Process mainly differentiate by comparing target location and feedback position, condition discrimination, positive run mode, reversed fortune can be divided into
Row state and stopping state.Self calibration, after calibration, condition discrimination are carried out after the power-up：When there is target requirement variation, compare actuator
Target location PtgWith actuator current actual positions Pfb, judge whether to rotate forward or invert, if PtgMore than Pfb, transported into forward direction
Row state；If PtgLess than Pfb, into inverted running state.
Positive run mode：When target requirement is unchanged, maintain current operating conditions, the actuator periodically acquired current
Physical location PfbWith actuator target location PtgDifference △ S=Abs (Ptg-Pfb),
When △ S be more than or equal to Smin × K × C, then enter full speed area operation, i.e., with 100% PWM run.
When △ S are less than Smin × K × C, then enter decelerating area and run, i.e., run with the PWM of the percentage of calculating.
Wherein Smin is minimum controllable precision stroke, related with the precision of ADC samplings；
K is damping stroke, i.e., from full speed running to the stroke run when stopping；
C is the scale parameter that can be demarcated, this parameter is related to the torque of air door executer motor.
It is as follows for the decision process of the PWM operations of decelerating area：
The PWM=△ ÷ of S × 100 (Smin×K×C)
When PWM is less than PWMminWhen, enable PWM be equal to PWMmin, with PWMminAir door executer operating is controlled, until air door is held
Row device runs to the actuator target location P of settingtg.Wherein PWMminIt can be driven just under with the PWM value for air door executer
Actuator operates and has the critical value that stroke changes.
Enter stopping state after reaching target position, when target position forward direction increases, to jump to when target position changes in demand
Condition discrimination is adjusted to stop state, stops acting as state when target position inversely increases；Delay time is sentenced to the state of jumping to
Not.
Inverted running state is identical as the positive mode of operation of run mode.
In controlling air door executer operation process, the feedback voltage V of current location is acquired in real timefb, acquisition execution in real time
Device current actual positions Pfb, the feedback voltage V in current locationfbLess than or equal to VminOr VfbMore than or equal to Vmax, record electronics electricity
The short circuit on road or open circuit fault；Actuator current actual positions PfbLess than or equal to PminOr PfbMore than or equal to Pmax, then actuator
Beyond stroke failure.
When air door executer is during full speed running area, feedback position refers to continuing for some time interior stagnation or do not reach
Fixed rate, i.e. Abs (Pfb_new-Pfb_old) it is less than or equal to Smin, then actuator stall failure.
By this control method, what each air door executer can be both quick and accurate and stable reaches set target location, and
And the effective service life for improving air conditioning box body and actuator itself.When breaking down, event effectively can be clearly differentiated
Barrier is that actuator exceeds stroke, meets the failures such as barrier stall or position feedback failure.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of control method of air door actuator of automobile air-conditioner, including：Set actuator target location Ptg, acquire actuator and work as
Preceding physical location Pfb, which is characterized in that the control method of the air door actuator of automobile air-conditioner further includes：
Obtain actuator target location PtgWith actuator current actual positions PfbDifference △ S, by difference △ S with it is preset
Preset value SdtIt is compared；
It is more than or equal to preset value S in △ SdtWhen, into the full speed area operation stage, control air door executer is with absolutely
PWM is run；
It is less than preset value S in △ SdtWhen, into the decelerating area operation phase, control air door executer with preset percentage carry out according to
It is secondary successively decrease after PWM operations, until air door executer runs to the actuator target location P of settingtg。
2. the control method of air door actuator of automobile air-conditioner according to claim 1, which is characterized in that the preset value Sdt
Set formula as：Sdt=Smin×K×C；
Wherein, SminFor minimum controllable precision stroke；K is damping stroke；C is the scale parameter that can be demarcated, this parameter is held with air door
The torque of row device is related.
3. the control method of air door actuator of automobile air-conditioner according to claim 2, which is characterized in that the preset value Sdt
Setting further include damping stroke K calibration process, the calibration process include with absolutely PWM control air door executer
Operation preset time value records the actuator position P at the moment when reaching preset time valuefb1And stop PWM outputs, in wind
Record actuator position P when door actuator stopsfb2, calculate the stroke S of air door executerrun,
Srun=Abs (Pfb1-Pfb2)；
The calibration equation of damping stroke K is：K=Srun/Smin。
4. wanting the control method of the air door actuator of automobile air-conditioner described in 2 or 3 according to right, which is characterized in that slow down entering
When the area operation stage, setting can be such that air door executer operates and have the critical value PWM of stroke variationmin, in decelerating area
PWM obtain formula be：
The PWM=△ ÷ of S × 100 (Smin×K×C)；
It is less than PWM in PWMminWhen, it enables：PWM is equal to PWMmin,
With PWMminAir door executer operating is controlled, until air door executer runs to the actuator target location P of settingtg。
5. the control method of air door actuator of automobile air-conditioner according to claim 4, which is characterized in that the control method
Further include to critical value PWMminSingle step calibration process, the single step calibration process includes record actuator current location
Pfb_old, control air door executer gradually increases PWM value with per second 1% rate since 0%, and constantly acquisition executes
Device current location, is recorded as Pfb_new, in Abs (Pfb_new-Pfb_old) it is more than or equal to SminWhen, it is PWM to charge to the valueminAnd carry out
Storage.
6. the control method of air door actuator of automobile air-conditioner according to claim 1, which is characterized in that the control method
Further include by comparing actuator target location PtgWith actuator current actual positions PfbTo differentiate the operation shape of air door executer
State, in PtgMore than PfbWhen, into positive run mode；In PtgLess than PfbWhen, into inverted running state；Reach actuator target
Position PtgAfterwards, into stopping state.
7. wanting the control method of the air door actuator of automobile air-conditioner described in 6 according to right, which is characterized in that entering positive operation
After state, real-time judge actuator target location PtgWhether change, as actuator target location PtgWhen unchanged, continue current
Operating status, until reaching actuator target location PtgAfter stop state；As actuator target location PtgIt changes and forward direction increases
When, compare actuator target location PtgWith actuator current actual positions PfbTo differentiate the operating status of air door executer；When holding
Row device target location PtgWhen changing and inversely increasing, it is adjusted to after stopping state, compares actuator target location PtgWork as with actuator
Preceding physical location PfbTo differentiate the operating status of air door executer.
8. the control method of air door actuator of automobile air-conditioner according to claim 1, which is characterized in that the control method
Further include powering on self calibration and the lower self-alignment process of electricity, it is described to power on self calibration or the lower self-alignment process of electricity includes：It is first
First obtain the target stroke S of defaultset, control air door executer rotates forward until stall, record position Pstr, then control wind
Door actuator reversion action is until stall, record position Pend, calculate total kilometres Stst=Abs (Pend-Pstr)；It will calculate
Total kilometres StstWith the target stroke S of defaultsetIt is compared, judges whether self calibration succeeds according to comparison result,
When success, S is determinedtstFor new stroke and stored；In failure, the last stroke value recorded is taken.
9. the control method of air door actuator of automobile air-conditioner according to claim 8, which is characterized in that will be calculated total
Stroke StstWith the target stroke S of defaultsetIt carries out difference percentage to be calculated, formula is：Cdif=Abs (Sset-Stst)
×100÷Sset；
In CdifWhen less than or equal to 5, then it is judged as primary successfully self study, determines new stroke and stored；
In CdifWhen more than 5, then it is judged as primary unsuccessfully self study, takes the last stroke value recorded.
10. the control method of air door actuator of automobile air-conditioner according to claim 5, which is characterized in that the controlling party
Method further includes fault distinguishing process, and the fault distinguishing process includes working as air door executer during full speed area operation, in Abs
(Pfb_new-Pfb_old) it is less than or equal to SminWhen, it is judged as air door executer stall failure；By feedback voltage acquisition module to holding
Row device current actual positions PfbFeedback voltage VfbIt is acquired, in feedback voltage VfbMore than or equal to preset minimum electricity
Pressure value or more than or equal to preset maximum voltage value when, be judged as electronic circuit exist short circuit or short trouble；It will hold
Row device current actual positions PfbWith preset range PmaxWith preset minimum stroke PminIt is compared, big
In equal to range PmaxOr it is less than or equal to minimum stroke PminWhen, it is judged as that air door executer exceeds stroke failure.
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| CN109931865A (en) * | 2019-03-26 | 2019-06-25 | 宁波奥克斯电气股份有限公司 | The detection device and method, smoke machine of air door folding angle |
| CN111365823A (en) * | 2018-12-25 | 2020-07-03 | 杭州三花研究院有限公司 | Air conditioning system and control method thereof |
| CN112068465A (en) * | 2020-08-19 | 2020-12-11 | 科博达(重庆)智控技术有限公司 | Deceleration torque reduction control method and system for automobile actuators |
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| CN115899944A (en) * | 2023-01-03 | 2023-04-04 | 新誉轨道交通科技有限公司 | Control method and device of air door actuator and air conditioner |
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| CN116386176A (en) * | 2023-04-06 | 2023-07-04 | 深圳市慧星辰科技有限公司 | Full-automatic intelligent door lock control method, system, device, equipment and medium |
| CN116386176B (en) * | 2023-04-06 | 2024-03-26 | 深圳市慧星辰科技有限公司 | Full-automatic intelligent door lock control method, system, device, equipment and medium |
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